/PROG  PNS0270
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "P0203035NEW";
PROG_SIZE	= 2613;
CREATE		= DATE 21-11-15  TIME 13:49:24;
MODIFIED	= DATE 21-11-15  TIME 13:49:24;
FILE_NAME	= PNS0071;
VERSION		= 0;
LINE_COUNT	= 90;
MEMORY_SIZE	= 3053;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: RL1 ;
   6:  !  PROGRAM: PNS0051 ;
   7:  !  PART:53301125 ;
   8:  !ZYL15-7-16********************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  DO[38]=OFF ;
  13:  R[14]=90    ;
  14:  R[18]=1    ;
  15:  R[19]=.1    ;
  16:  R[35]=TIMER[4]    ;
  17:  !------------------------------- ;
  18:  !BEGINNING OF PROGRAM ;
  19:  CALL PARTDROP    ;
  20:  COL GUARD ADJUST R[14] ;
  21:  UTOOL_NUM=1 ;
  22:  UFRAME_NUM=0 ;
  23:  PAYLOAD[1] ;
  24:  CALL ARM_CHECK    ;
  25:  !INITIATE TO PICK-POUNCE ;
  26:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  27:J P[2:PICK POUNCE] 50% CNT100 ACC100 BREAK    ;
  28:  PR[6]=PR[11]    ;
  29:  R[1]=0    ;
  30:  TIMER[1]=RESET ;
  31:   ;
  32:  LBL[10:TOP OF LOOF] ;
  33:  OVERRIDE=R[5] ;
  34:   ;
  35:  !PROCEED TO PICK ;
  36:  LBL[20] ;
  37:  IF DI[1]=ON AND DI[2]=ON,JMP LBL[30] ;
  38:  IF DI[29]=ON,JMP LBL[90] ;
  39:  JMP LBL[20] ;
  40:   ;
  41:  LBL[30:GOTO DROP POUNCE] ;
  42:  OVERRIDE=R[5] ;
  43:J P[3:SAFE POUNCE] 30% CNT100    ;
  44:  DO[38]=ON ;
  45:  R[45]=PR[6,3]    ;
  46:  IF DI[29]=ON,JMP LBL[90] ;
  47:  IF DI[2]=ON AND DI[4]=ON AND DI[44]=ON,JMP LBL[50] ;
  48:  JMP LBL[30] ;
  49:  LBL[50:MOVE DROP SNEAK] ;
  50:  OVERRIDE=R[5] ;
  51:  IF R[45]<=(-1520),JMP LBL[98] ;
  52:  JMP LBL[99] ;
  53:  LBL[98] ;
  54:  DO[40]=PULSE,1.0sec ;
  55:  LBL[99] ;
  56:   ;
  57:L PR[6] 450mm/sec CNT0 DB  100.0mm,DO[37]=PULSE,2.0sec ACC100    ;
  58:   ;
  59:L PR[6] 500mm/sec CNT0 TB   1.00sec,CALL PARTPICK ACC100    ;
  60:  CALL CHK_PICK    ;
  61:  WAIT    .90(sec) ;
  62:L P[5] 1000mm/sec CNT30    ;
  63:  WAIT DI[4]=ON AND DI[5]=ON AND DI[38]=ON AND DI[45]=OFF    ;
  64:  PR[6,3]=PR[6,3]-2    ;
  65:  DO[38]=OFF ;
  66:J P[10] 30% CNT30    ;
  67:  CALL CHK_PICK    ;
  68:J P[11:DROP] 20% CNT5 TB R[19]sec,CALL PARTDROP    ;
  69:  DO[6]=PULSE,1.0sec ;
  70:J P[12] 50% CNT80    ;
  71:  CALL CHK_DROP    ;
  72:J P[9] 50% CNT100    ;
  73:  IF DI[29]=ON,JMP LBL[90] ;
  74:  IF DI[44]=ON,JMP LBL[30] ;
  75:  JMP LBL[86] ;
  76:  LBL[86] ;
  77:  DO[22]=PULSE,3.0sec ;
  78:  JMP LBL[89] ;
  79:  LBL[89] ;
  80:  IF DI[29]=ON,JMP LBL[90] ;
  81:  JMP LBL[10] ;
  82:  LBL[90:END OF CYCLE] ;
  83:  TIMER[1]=STOP ;
  84:J P[3:SAFE POUNCE] 10% CNT100    ;
  85:J P[8:DROP POUNCE] 5% CNT100    ;
  86:J P[2:PICK POUNCE] 10% CNT100    ;
  87:  MOVE TO HOME    ;
  88:  DO[38]=OFF ;
  89:  R[38]=0    ;
  90:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2659.957  mm,	Y =  -743.334  mm,	Z =  -927.922  mm,
	W =  -179.311 deg,	P =      .574 deg,	R =   -89.997 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2657.790  mm,	Y =  -744.000  mm,	Z =  -936.231  mm,
	W =  -179.311 deg,	P =      .573 deg,	R =   -90.000 deg
};
P[3:"SAFE POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2561.648  mm,	Y = -2035.335  mm,	Z =  -808.237  mm,
	W =  -179.471 deg,	P =      .605 deg,	R =   -90.021 deg
};
P[5]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2561.648  mm,	Y = -2035.335  mm,	Z =  -808.237  mm,
	W =  -179.471 deg,	P =      .605 deg,	R =   -90.021 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2487.000  mm,	Y = -1405.211  mm,	Z =  -830.000  mm,
	W =  -179.305 deg,	P =      .575 deg,	R =   -89.997 deg
};
P[9]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2562.010  mm,	Y = -2022.786  mm,	Z =  -858.000  mm,
	W =  -179.459 deg,	P =      .601 deg,	R =   -90.015 deg
};
P[10]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2543.161  mm,	Y = -2995.000  mm,	Z =  -858.000  mm,
	W =  -179.463 deg,	P =      .605 deg,	R =   -90.015 deg
};
P[11:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2543.161  mm,	Y = -2995.000  mm,	Z =  -919.120  mm,
	W =  -179.463 deg,	P =      .605 deg,	R =   -90.015 deg
};
P[12]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2543.160  mm,	Y = -2995.000  mm,	Z =  -858.000  mm,
	W =  -179.463 deg,	P =      .605 deg,	R =   -90.015 deg
};
/END
